Performance Enhancement of Interval-Analysis-Based-Methods for Wrench-Feasible Workspace Computation of Cable-Driven Parallel Robot

摘要

This paper aims at improving the computational efficiency of interval-analysis-based-methods for wrench-feasible workspace computation of over-constrained redundant cable-driven parallel robots. To do so, this work employs the improved closed-form algorithm in place of conventional simplex algorithm for feasibility analysis of interval linear systems. The computation efficiency of the proposed approach is verified using a planar 3 degrees-of-freedom (DOF) cable robot for different orientations. The obtained results are compared to the conventional simplex method-based interval approach in terms of computational time and wrench-feasible workspace. From the results obtained, it has been observed that the proposed approach is faster than the conventional simplex method-based approach.